| 大航程AUV SINS/DVL组合导航定位精度研究 |
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| 引用本文： | 钱辉,丁永忠.大航程AUV SINS/DVL组合导航定位精度研究[J].兵工自动化,2010,29(2):46-48. |
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| 作者姓名： | 钱辉 丁永忠 |
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| 作者单位： | 海军工程大学,鱼雷教研室,湖北,武汉,430033;中国船舶重工业集团公司,第705研究所,军代室,陕西,西安,710075 |
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| 摘 要： | 为了进一步提高AUV的导航定位精度，研究SINS／DVL组合导航系统在大航程AUV上的应用。首先，建立其误差分析模型；然后，提出使用常规kalman滤波方程计算误差的思想；最后，在系统噪声与观测噪声已知的情况下，应用常规kalman滤波算法进行仿真分析。结果表明，该滤波存在明显发散，导致误差方差阵失去非负定性，影响滤波增值。
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| 关 键 词： | SINS/DVL组合导航系统 AUV捷联惯导系统 kalman滤波器 系统测量方程 仿真 |
| 收稿时间： | 2010/4/9 0:00:00 |
Research on Large Voyage AVU SINS/DVL Combined Navigation Orientation Precision |
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| QIAN Hui,DING Yong-zhong.Research on Large Voyage AVU SINS/DVL Combined Navigation Orientation Precision[J].Ordnance Industry Automation,2010,29(2):46-48. |
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| Authors: | QIAN Hui DING Yong-zhong |
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| Affiliation: | 1. Staff Room of Torpedo;Naval University of Engineering;Wuhan 430033;China;2. Military Representatives Office;No. 705 Research Institute;China Shipbuilding Industry Corporation;Xi'an 710075;China |
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| Abstract: | In order to improve the precision of AUV navigation orientation and research the application of SINS/DVL combined navigation system in the large voyage AUV. Firstly,the model of analyzing error will be established. Secondly,calculate the error by the normal kalman filter equation; lastly,use simulation to analyze the error by the normal kalman filter arithmetic with known system yawp and observation yawp. The result indicates that error array will be not non-negative definite any more because the filter is ... |
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| Keywords: | SINS/DVL combined navigation system AUV SINS Kalman filter System measure equation Simulation |
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